{"id":"https://openalex.org/W2124555802","doi":"https://doi.org/10.1109/ramech.2008.4681402","title":"Obstacle Avoidance of Snake Robot Moving with A Novel Gait Using Two-Level PID Controller","display_name":"Obstacle Avoidance of Snake Robot Moving with A Novel Gait Using Two-Level PID Controller","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2124555802","doi":"https://doi.org/10.1109/ramech.2008.4681402","mag":"2124555802"},"language":"en","primary_location":{"id":"doi:10.1109/ramech.2008.4681402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4681402","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036810856","display_name":"Sh. Hasanzadeh","orcid":null},"institutions":[{"id":"https://openalex.org/I86958956","display_name":"Ferdowsi University of Mashhad","ror":"https://ror.org/00g6ka752","country_code":"IR","type":"education","lineage":["https://openalex.org/I86958956"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Sh. Hasanzadeh","raw_affiliation_strings":["Mechanical Engineering Department, Ferdowsi University of Mashhad, Mashhad, Iran","Mech. Eng. Dept., Ferdowsi Univ. of Mashhad, Mashhad"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Ferdowsi University of Mashhad, Mashhad, Iran","institution_ids":["https://openalex.org/I86958956"]},{"raw_affiliation_string":"Mech. Eng. Dept., Ferdowsi Univ. of Mashhad, Mashhad","institution_ids":["https://openalex.org/I86958956"]}]},{"author_position":"last","author":{"id":null,"display_name":"A. Akbarzadeh Tootoonchi","orcid":null},"institutions":[{"id":"https://openalex.org/I86958956","display_name":"Ferdowsi University of Mashhad","ror":"https://ror.org/00g6ka752","country_code":"IR","type":"education","lineage":["https://openalex.org/I86958956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"A. Akbarzadeh Tootoonchi","raw_affiliation_strings":["Mechanical Engineering Department, Ferdowsi University of Mashhad, Mashhad, Iran","Mech. Eng. Dept., Ferdowsi Univ. of Mashhad, Mashhad"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Ferdowsi University of Mashhad, Mashhad, Iran","institution_ids":["https://openalex.org/I86958956"]},{"raw_affiliation_string":"Mech. Eng. Dept., Ferdowsi Univ. of Mashhad, Mashhad","institution_ids":["https://openalex.org/I86958956"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5036810856"],"corresponding_institution_ids":["https://openalex.org/I86958956"],"apc_list":null,"apc_paid":null,"fwci":0.9989,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.78187307,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"427","last_page":"432"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.975600004196167,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.8069751262664795},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6837730407714844},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6149277687072754},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5808972716331482},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5783476829528809},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5761193037033081},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5014984607696533},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.48797744512557983},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.47369977831840515},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.46450942754745483},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4502120912075043},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4305207133293152},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36749279499053955},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3562454283237457},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3306843638420105},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3101268708705902},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3055625557899475},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2504200339317322},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10588139295578003},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.0843854546546936}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.8069751262664795},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6837730407714844},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6149277687072754},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5808972716331482},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5783476829528809},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5761193037033081},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5014984607696533},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.48797744512557983},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.47369977831840515},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.46450942754745483},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4502120912075043},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4305207133293152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36749279499053955},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3562454283237457},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3306843638420105},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3101268708705902},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3055625557899475},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2504200339317322},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10588139295578003},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.0843854546546936},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ramech.2008.4681402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4681402","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1498102064","https://openalex.org/W1625247920","https://openalex.org/W1628288941","https://openalex.org/W2081517489","https://openalex.org/W2091252791","https://openalex.org/W2095271512","https://openalex.org/W2102069286","https://openalex.org/W2123431998","https://openalex.org/W2128095394","https://openalex.org/W2144661143","https://openalex.org/W2171544840","https://openalex.org/W6681436132"],"related_works":["https://openalex.org/W2281433634","https://openalex.org/W3009037905","https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4317826762","https://openalex.org/W218732962","https://openalex.org/W1540467731","https://openalex.org/W1979383880","https://openalex.org/W2538037439","https://openalex.org/W2741909783"],"abstract_inverted_index":{"In":[0],"this":[1,17,46],"paper,":[2],"we":[3,102],"introduce":[4],"a":[5,35,112],"novel":[6],"locomotion":[7],"mode":[8],"(gait)":[9],"for":[10],"2D":[11],"snake":[12,25,42,118],"robots.":[13],"The":[14,125],"idea":[15],"behind":[16],"new":[18],"gait":[19,95],"is":[20,82,97],"to":[21,116,120],"control":[22,80],"orientation":[23,141],"of":[24,37,54,63,70,78,87,142,151],"robot":[26,43,79,119],"by":[27],"head":[28,48,144],"link":[29,49],"and":[30,56,65,89],"use":[31],"other":[32],"links":[33],"as":[34],"means":[36],"driving":[38],"the":[39,68,76,85,93,135,143,149,152],"robot.":[40],"When":[41],"moves":[44],"using":[45,105],"gait,":[47],"always":[50],"looks":[51],"at":[52],"direction":[53,69],"motion":[55],"can":[57],"therefore":[58],"receive":[59],"much":[60],"better":[61],"information":[62],"target":[64,121],"obstacles":[66],"in":[67,84],"motion.":[71],"This":[72],"will":[73],"significantly":[74],"improve":[75],"ease":[77],"which":[81],"critical":[83],"case":[86],"search":[88],"rescue":[90],"operations.":[91],"Finding":[92],"proposed":[94,153],"parameters":[96],"an":[98],"optimization":[99],"problem":[100],"that":[101],"solve":[103],"it":[104],"genetic":[106],"algorithm":[107],"(GA).":[108],"We":[109],"then":[110],"propose":[111],"two-level":[113],"PID":[114,128,138],"controller":[115,129,139],"guide":[117],"while":[122,134],"avoiding":[123],"obstacles.":[124],"lower":[126],"level":[127,137],"controls":[130,140],"actuators":[131],"input":[132],"torque":[133],"higher":[136],"link.":[145],"Simulation":[146],"results":[147],"confirm":[148],"effectiveness":[150],"method.":[154]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}